from launch import LaunchDescription
from launch_ros.actions import Node
# ---|封装终端指令相关类
# from launch.actions import ExecuteProcess
# from launch.substitutions import FindExecutable
# ---|参数声明与获取
# from launch.actions import DeclareLaunchArgument
# from launch.substitutions import LaunchConfiguration
# ---|文件包含相关
# from launch.actions import IncludeLaunchDescription
# from launch.launch_description_sources import PythonLaunchDescriptionSource
# ---|分组相关
# from launch_ros.actions import PushRosNamespace
# from launch.actions import GroupAction
# ---|事件相关
# from launch.event_handlers import OnProcessStart, OnProcessExit
# from launch.actions import ExecuteProcess, RegisterEventHandler,LogInfo
# ---|获取功能包下 share 目录路径
# from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
    adc = Node(package='arm_control',executable='arm_adc',name='adc')
    encoder = Node(package='arm_control',executable='arm_encoder',name='encoder')
    valves = Node(package='arm_control',executable='arm_bigvalves',name='valves')

    
    return LaunchDescription([adc,encoder,valves])